Team4388/2023WayOfTheRobot
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This commit is contained in:
Aarav
2023-03-02 16:56:37 -07:00
parent 3f75ec3b7f
commit b290645b33
4 changed files with 36 additions and 16 deletions
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src/main/java/frc4388/robot/subsystems/Arm.java
+11 -5
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@@ -33,6 +33,11 @@ public class Arm extends SubsystemBase {
pivotConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
pivot.configAllSettings(pivotConfig);
pivot.configForwardSoftLimitThreshold(ArmConstants.TELE_FORWARD_SOFT_LIMIT);
pivot.configReverseSoftLimitThreshold(ArmConstants.TELE_REVERSE_SOFT_LIMIT);
pivot.configForwardSoftLimitEnable(true);
pivot.configReverseSoftLimitEnable(true);
CANCoderConfiguration config = new CANCoderConfiguration();
config.magnetOffsetDegrees = ArmConstants.OFFSET;
m_pivotEncoder.configAllSettings(config);
@@ -46,11 +51,11 @@ public class Arm extends SubsystemBase {
}
public void setRotVel(double vel) {
m_pivot.set(ControlMode.Velocity, vel);
m_pivot.set(ControlMode.PercentOutput, vel / 5);
}
public void setTeleVel(double vel) {
m_tele.set(ControlMode.Velocity, vel);
m_tele.set(ControlMode.PercentOutput, vel);
}
public void armSetRotation(double rot) {
@@ -84,7 +89,7 @@ public class Arm extends SubsystemBase {
}
public void runPivotTele(double pivot, double tele) {
var rot = 0;
double rot = 0;
if (checkLimits(tele, rot)) {
armSetRotation(pivot);
@@ -112,7 +117,8 @@ public class Arm extends SubsystemBase {
@Override
public void periodic() {
if (m_debug)
SmartDashboard.putNumber("Arm Motor", m_tele.getSelectedSensorPosition());
// if (m_debug)
// SmartDashboard.putNumber("Arm Motor", m_tele.getSelectedSensorPosition());
SmartDashboard.putNumber("Pivot AbsPos", m_pivotEncoder.getAbsolutePosition());
}
}